Edge Collision Detection in Complex Environment

We present in this paper a new approach to detect and precisely report the collisions and contacts betwe en deformable moving bodies and their environment. The moving bodies are sampled as meshes whose vertices are followed up in a convex subdivision of the surrounding space. Particlesare continuously spanned along the edges to detect collisions w ith cells of this subdivision. We report experimentations with shape matching based physical simulations and discuss performance of our method. We compare our approach with hierarchical ones.